Chen-Chi Chu — accepted AI-conference papers

2018

PIRVS: An Advanced Visual-Inertial SLAM System with Flexible Sensor Fusion and Hardware Co-Design

Zhe Zhang, Shaoshan Liu, Grace Tsai, Hongbing Hu, Chen-Chi Chu, Feng Zheng

ICRA 2018poster

In this paper, we present the PerceptIn Robotics Vision System (PIRVS), a visual-inertial computing hardware with embedded simultaneous localization and mapping (SLAM) algorithm. The PIRVS hardware is equipped with a multi-core processor, a global-shutter stereo camera, and an IMU with precise hardw…

Cited by 54 Source ↗Scholar ↗

2018

Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry Using Points and Lines

Feng Zheng, Grace Tsai, Zhe Zhang, Shaoshan Liu, Chen-Chi Chu, Hongbing Hu

IROS 2018poster

In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point features cannot be reliably detected or tracked, e.g. low-textur…

Cited by 70 Source ↗Scholar ↗